Packages¶

Quad-SDK is a workspace of focused ROS 2 packages. Each one builds in isolation (colcon build --packages-select <name>) and most have their own unit tests.

Planning¶

Package	What it does
`global_body_planner`	RRT-Connect planner with mixed motion primitives (GBP-L); exposes a `plan_with_constraints` service for multi-robot replanning
`local_planner`	NMPC body plan + Raibert footstep heuristic
`nmpc_controller`	CasADi/IPOPT nonlinear MPC, exposed as a library
`conflict_based_search`	Multi-robot global planning — coordinates per-robot global planners via OBB conflict detection + time-windowed constraints

Control + estimation¶

Package	What it does
`robot_driver`	Real-time control loop, EKF state estimation, hardware abstraction
`body_force_estimator`	Momentum-based external wrench observer

Simulation¶

Package	What it does
`quad_simulator`	Gazebo Harmonic plugins, worlds, and robot descriptions
`force_applicator`	Runtime disturbance injection for robustness testing

Utilities¶

Package	What it does
`quad_utils`	Kinematics/dynamics (Pinocchio), launch system, shared utilities
`quad_msgs`	Message definitions
`quad_logger`	Bag recording + log post-processing (Python + MATLAB)
`quad_training`	Time-sync + episode management for RL/BC data collection
`quad_perf_tests`	Performance-testing utilities
`scripts`	Blender visualization / rendering scripts